std_msgs/Header header
uint32[] ids
geometry_msgs/Point[] local_drone_position
geometry_msgs/Vector3[] local_drone_velocity
geometry_msgs/Quaternion[] local_drone_rotation
float64[] local_drone_yaw

geometry_msgs/Vector3[] position_cov
float64[] yaw_cov

geometry_msgs/Point self_pos
float64 self_yaw
# Local odom in self cooridnate